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Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms based on lie group theory

Refaat, Sameh, Herve, Jacques M., Nahavandi, Saeid and Trinh, Hieu 2006, Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms based on lie group theory, European journal of mechanics - A/Solids, vol. 25, no. 3, pp. 550-558, doi: 10.1016/j.euromechsol.2005.11.001.

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Title Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms based on lie group theory
Author(s) Refaat, Sameh
Herve, Jacques M.
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Trinh, HieuORCID iD for Trinh, Hieu orcid.org/0000-0003-3438-9969
Journal name European journal of mechanics - A/Solids
Volume number 25
Issue number 3
Start page 550
End page 558
Publisher Elsevier SAS
Place of publication Paris, France
Publication date 2006-05
ISSN 0997-7538
Keyword(s) overconstrained mechanisms
asymmetric parallel-kinematics mechanisms
rotational-translational mechanisms
three-DOFs PKMs
lie group theory
Summary The paper introduces four families of three-DOFs translational-rotational Parallel-Kinematics Mechanisms (PKMs) as well as the mobility analysis of such families using Lie group theory. Two of these families are mechanisms with one-rotational two-translational degrees of freedom (DOFs) and each of the other two has one-translational two-rotational DOFs. Four novel mechanisms are presented and discussed as representatives of these four families. Although these mechanisms are asymmetric, the components used to realise them are very similar and, hence, there is no great departure from the favourable modularity of parallel-kinematics mechanisms.


Language eng
DOI 10.1016/j.euromechsol.2005.11.001
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
HERDC Research category C1 Refereed article in a scholarly journal
Persistent URL http://hdl.handle.net/10536/DRO/DU:30006544

Document type: Journal Article
Collection: School of Engineering and Information Technology
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